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RailCom cutout for MAIN and PROG track

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This commit is contained in:
Arkadiusz Hahn 2024-01-14 16:14:19 +01:00
parent 818e05b425
commit 65b9079337
6 changed files with 264 additions and 110 deletions
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82
DCCWaveform.cpp
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@ -1,4 +1,5 @@
/*
* @ 2024 Arkadiusz Hahn
* © 2021 Neil McKechnie
* © 2021 Mike S
* © 2021 Fred Decker
@ -35,6 +36,8 @@
DCCWaveform DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
DCCWaveform DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
bool DCCWaveform::supportsRailcom=false;
bool DCCWaveform::useRailcom=false;
// This bitmask has 9 entries as each byte is trasmitted as a zero + 8 bits.
const byte bitMask[] = {0x00, 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01};
@ -62,6 +65,20 @@ const bool signalTransform[]={
/* WAVE_PENDING (should not happen) -> */ LOW};
void DCCWaveform::begin() {
// supportsRailcom depends on hardware capability
supportsRailcom = TrackManager::isRailcomCapable();
// useRailcom is user switchable at run time.
useRailcom=supportsRailcom;
if (useRailcom) {
DIAG(F("Railcom is enabled"));
} else {
DIAG(F("Railcom is disabled"));
}
TrackManager::setCutout(false,false);
TrackManager::setPROGCutout(false,false);
DCCTimer::begin(DCCWaveform::interruptHandler);
}
@ -69,9 +86,24 @@ void DCCWaveform::loop() {
// empty placemarker in case ESP32 needs something here
}
bool DCCWaveform::setUseRailcom(bool on) {
if (!supportsRailcom) return false;
useRailcom=on;
if (!on) {
// turn off any existing cutout
TrackManager::setCutout(false);
TrackManager::setPROGCutout(false);
}
return true;
}
#pragma GCC push_options
#pragma GCC optimize ("-O3")
void DCCWaveform::interruptHandler() {
// call the timer edge sensitive actions for progtrack and maintrack
// member functions would be cleaner but have more overhead
byte sigMain= signalTransform[mainTrack.state];
@ -84,15 +116,24 @@ void DCCWaveform::interruptHandler() {
// Refresh the values in the ADCee object buffering the values of the ADC HW
ADCee::scan();
// WAVE_START is at start of bit where we need to find
// out if this is an railcom start or stop time
if (useRailcom) {
if ((mainTrack.state==WAVE_START) || (mainTrack.state== WAVE_MID_1)) mainTrack.railcom2();
if ((progTrack.state==WAVE_START) || (progTrack.state== WAVE_MID_1)) progTrack.railcom2();
}
// Move on in the state engine
mainTrack.state=stateTransform[mainTrack.state];
progTrack.state=stateTransform[progTrack.state];
// WAVE_PENDING means we dont yet know what the next bit is
if (mainTrack.state==WAVE_PENDING) mainTrack.interrupt2();
if (progTrack.state==WAVE_PENDING) progTrack.interrupt2();
else DCCACK::checkAck(progTrack.getResets());
if ((mainTrack.state==WAVE_PENDING) || (mainTrack.state== WAVE_START)) mainTrack.interrupt2();
if ((progTrack.state==WAVE_PENDING) || (progTrack.state == WAVE_START)) {
progTrack.interrupt2();
} else {
DCCACK::checkAck(progTrack.getResets());
}
}
#pragma GCC pop_options
@ -111,10 +152,38 @@ DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
// The +1 below is to allow the preamble generator to create the stop bit
// for the previous packet.
requiredPreambles = preambleBits+1;
requiredPreambles <<=1; // double the number of preamble wave halves
remainingPreambles=0;
bytes_sent = 0;
bits_sent = 0;
}
#pragma GCC push_options
#pragma GCC optimize ("-O3")
void DCCWaveform::railcom2() {
bool cutout;
if (remainingPreambles==(requiredPreambles-4)) {
cutout=true;
} else if (remainingPreambles==(requiredPreambles-11)) {
cutout=false;
} else {
return; // neither start or end of cutout, do nothing
}
if (isMainTrack) {
if (TrackManager::progTrackSyncMain) {// we are main track and synced so we take care of prog track as well
TrackManager::setPROGCutout(cutout,true);
}
TrackManager::setCutout(cutout,true);
} else {
if (!TrackManager::progTrackSyncMain) {// we are prog track and not synced so we take care of ourselves
TrackManager::setPROGCutout(cutout,true);
}
}
}
#pragma GCC pop_options
#pragma GCC push_options
@ -125,14 +194,18 @@ void DCCWaveform::interrupt2() {
// or WAVE_HIGH_0 for a 0 bit.
if (remainingPreambles > 0 ) {
if (state==WAVE_PENDING) {
state=WAVE_MID_1; // switch state to trigger LOW on next interrupt
}
remainingPreambles--;
// Update free memory diagnostic as we don't have anything else to do this time.
// Allow for checkAck and its called functions using 22 bytes more.
DCCTimer::updateMinimumFreeMemoryISR(22);
return;
}
if (state==WAVE_PENDING) {
// Wave has gone HIGH but what happens next depends on the bit to be transmitted
// beware OF 9-BIT MASK generating a zero to start each byte
state=(transmitPacket[bytes_sent] & bitMask[bits_sent])? WAVE_MID_1 : WAVE_HIGH_0;
@ -174,6 +247,7 @@ void DCCWaveform::interrupt2() {
}
}
}
}
#pragma GCC pop_options
// Wait until there is no packet pending, then make this pending

6
DCCWaveform.h
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@ -52,6 +52,11 @@ class DCCWaveform {
static void loop();
static DCCWaveform mainTrack;
static DCCWaveform progTrack;
static bool supportsRailcom;
static bool useRailcom;
static bool setUseRailcom(bool on);
inline void clearRepeats() { transmitRepeats=0; }
#ifndef ARDUINO_ARCH_ESP32
inline void clearResets() { sentResetsSincePacket=0; }
@ -87,6 +92,7 @@ class DCCWaveform {
#endif
static void interruptHandler();
void interrupt2();
void railcom2();
bool isMainTrack;
// Transmission controller

62
MotorDriver.cpp
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@ -1,4 +1,4 @@
/*
/* @ 2024 Arkadiusz Hahn
* © 2022-2023 Paul M Antoine
* © 2021 Mike S
* © 2021 Fred Decker
@ -32,6 +32,7 @@ unsigned long MotorDriver::globalOverloadStart = 0;
volatile portreg_t shadowPORTA;
volatile portreg_t shadowPORTB;
volatile portreg_t shadowPORTC;
volatile portreg_t shadowPORTH;
MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
@ -52,17 +53,17 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
fastSignalPin.shadowinout = NULL;
if (HAVE_PORTA(fastSignalPin.inout == &PORTA)) {
DIAG(F("Found PORTA pin %d"),signalPin);
DIAG(F("Found SignalPin PORTA pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTA;
}
if (HAVE_PORTB(fastSignalPin.inout == &PORTB)) {
DIAG(F("Found PORTB pin %d"),signalPin);
DIAG(F("Found SignalPin PORTB pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTB;
}
if (HAVE_PORTC(fastSignalPin.inout == &PORTC)) {
DIAG(F("Found PORTC pin %d"),signalPin);
DIAG(F("Found SignalPin PORTC pin %d"),signalPin);
fastSignalPin.shadowinout = fastSignalPin.inout;
fastSignalPin.inout = &shadowPORTC;
}
@ -75,17 +76,17 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
fastSignalPin2.shadowinout = NULL;
if (HAVE_PORTA(fastSignalPin2.inout == &PORTA)) {
DIAG(F("Found PORTA pin %d"),signalPin2);
DIAG(F("Found SignalPin2 PORTA pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTA;
}
if (HAVE_PORTB(fastSignalPin2.inout == &PORTB)) {
DIAG(F("Found PORTB pin %d"),signalPin2);
DIAG(F("Found SignalPin2 PORTB pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTB;
}
if (HAVE_PORTC(fastSignalPin2.inout == &PORTC)) {
DIAG(F("Found PORTC pin %d"),signalPin2);
DIAG(F("Found SignalPin2 PORTC pin %d"),signalPin2);
fastSignalPin2.shadowinout = fastSignalPin2.inout;
fastSignalPin2.inout = &shadowPORTC;
}
@ -102,6 +103,31 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
getFastPin(F("BRAKE"),brakePin,fastBrakePin);
// if brake is used for railcom cutout we need to do PORTX register trick here as well
pinMode(brakePin, OUTPUT);
fastBrakePin.shadowinout = NULL;
//DIAG(F("Found BrakePin %d "), brake_pin);
if (HAVE_PORTA(fastBrakePin.inout == &PORTA)) {
DIAG(F("Found BrakePin PORTA pin %d"),brakePin);
fastBrakePin.shadowinout = fastBrakePin.inout;
fastBrakePin.inout = &shadowPORTA;
}
if (HAVE_PORTB(fastBrakePin.inout == &PORTB)) {
DIAG(F("Found BrakePin PORTB pin %d"),brakePin);
fastBrakePin.shadowinout = fastBrakePin.inout;
fastBrakePin.inout = &shadowPORTB;
}
if (HAVE_PORTC(fastBrakePin.inout == &PORTC)) {
DIAG(F("Found BrakePin PORTC pin %d"),brakePin);
fastBrakePin.shadowinout = fastBrakePin.inout;
fastBrakePin.inout = &shadowPORTC;
}
if (HAVE_PORTH(fastBrakePin.inout == &PORTH)) {
DIAG(F("Found BrakePin PORTH pin %d"),brakePin);
fastBrakePin.shadowinout = fastBrakePin.inout;
fastBrakePin.inout = &shadowPORTH;
}
setBrake(true); // start with brake on in case we hace DC stuff going on
} else {
brakePin=UNUSED_PIN;
@ -170,6 +196,9 @@ bool MotorDriver::isPWMCapable() {
return (!dualSignal) && DCCTimer::isPWMPin(signalPin);
}
bool MotorDriver::isRailcomCapable() {
return (!dualSignal) && (brakePin!=UNUSED_PIN);
}
void MotorDriver::setPower(POWERMODE mode) {
if (powerMode == mode) return;
@ -195,23 +224,6 @@ void MotorDriver::setPower(POWERMODE mode) {
powerMode=mode;
}
// setBrake applies brake if on == true. So to get
// voltage from the motor bride one needs to do a
// setBrake(false).
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake) and setBrake does
// compensate for that.
//
void MotorDriver::setBrake(bool on, bool interruptContext) {
if (brakePin == UNUSED_PIN) return;
if (!interruptContext) {noInterrupts();}
if (on ^ invertBrake)
setHIGH(fastBrakePin);
else
setLOW(fastBrakePin);
if (!interruptContext) {interrupts();}
}
bool MotorDriver::canMeasureCurrent() {
return currentPin!=UNUSED_PIN;
@ -455,7 +467,7 @@ void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
result.inout = portOutputRegister(port);
result.maskHIGH = digitalPinToBitMask(pin);
result.maskLOW = ~result.maskHIGH;
// DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
//DIAG(F("MotorDriver::getFastPin port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
}
///////////////////////////////////////////////////////////////////////////////////////////

45
MotorDriver.h
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@ -43,6 +43,7 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
#define HAVE_PORTA(X) X
#define HAVE_PORTB(X) X
#define HAVE_PORTC(X) X
#define HAVE_PORTH(X) X
#endif
#if defined(ARDUINO_AVR_UNO)
#define HAVE_PORTB(X) X
@ -74,7 +75,9 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
#ifndef HAVE_PORTC
#define HAVE_PORTC(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
#endif
#ifndef HAVE_PORTH
#define HAVE_PORTH(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
#endif
// Virtualised Motor shield 1-track hardware Interface
#ifndef UNUSED_PIN // sync define with the one in MotorDrivers.h
@ -110,6 +113,7 @@ struct FASTPIN {
extern volatile portreg_t shadowPORTA;
extern volatile portreg_t shadowPORTB;
extern volatile portreg_t shadowPORTC;
extern volatile portreg_t shadowPORTH;
enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
@ -118,35 +122,59 @@ class MotorDriver {
MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
byte current_pin, float senseFactor, unsigned int tripMilliamps, int16_t fault_pin);
void setPower( POWERMODE mode);
POWERMODE getPower() { return powerMode;}
// as the port registers can be shadowed to get syncronized DCC signals
// we need to take care of that and we have to turn off interrupts if
// we setSignal() or setBrake() or setPower() during that time as
// otherwise the call from interrupt context can undo whatever we do
// from outside interrupt
void setBrake( bool on, bool interruptContext=false);
// setBrake applies brake if on == true. So to get
// voltage from the motor bride one needs to do a
// setBrake(false).
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake) and setBrake does
// compensate for that.
__attribute__((always_inline)) inline void setBrake(bool on, bool interruptContext=false) {
if (brakePin == UNUSED_PIN) return;
if (!interruptContext) {noInterrupts();}
if (on ^ invertBrake) {
setHIGH(fastBrakePin);
} else {
setLOW(fastBrakePin);
}
if (!interruptContext) {interrupts();}
};
__attribute__((always_inline)) inline void setSignal( bool high) {
if (trackPWM) {
DCCTimer::setPWM(signalPin,high);
}
else {
} else {
if (high) {
setHIGH(fastSignalPin);
if (dualSignal) setLOW(fastSignalPin2);
}
else {
} else {
setLOW(fastSignalPin);
if (dualSignal) setHIGH(fastSignalPin2);
}
}
};
inline void enableSignal(bool on) {
if (on)
if (on) {
pinMode(signalPin, OUTPUT);
else
} else {
pinMode(signalPin, INPUT);
}
};
inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
void setDCSignal(byte speedByte);
void throttleInrush(bool on);
@ -178,6 +206,7 @@ class MotorDriver {
return rawCurrentTripValue;
}
bool isPWMCapable();
bool isRailcomCapable();
bool canMeasureCurrent();
bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
bool commonFaultPin = false; // This is a stupid motor shield which has only a common fault pin for both outputs

41
TrackManager.cpp
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@ -1,4 +1,4 @@
/*
/* @ 2024 Arkadiusz Hahn
* © 2022 Chris Harlow
* © 2022 Harald Barth
* All rights reserved.
@ -159,10 +159,41 @@ void TrackManager::setDCCSignal( bool on) {
HAVE_PORTC(PORTC=shadowPORTC);
}
void TrackManager::setCutout( bool on) {
(void) on;
// TODO Cutout needs fake ports as well
// TODO APPLY_BY_MODE(TRACK_MODE_MAIN,setCutout(on));
// setCutout() for MAIN track
void TrackManager::setCutout( bool on,bool interruptContext) {
//(void) on; // avoid compiler warning -Wunused
// Cutout needs fake ports as well
HAVE_PORTA(shadowPORTA=PORTA);
HAVE_PORTB(shadowPORTB=PORTB);
HAVE_PORTC(shadowPORTC=PORTC);
HAVE_PORTH(shadowPORTH=PORTH);
APPLY_BY_MODE(TRACK_MODE_MAIN,setBrake(on,interruptContext));
HAVE_PORTA(PORTA=shadowPORTA);
HAVE_PORTB(PORTB=shadowPORTB);
HAVE_PORTC(PORTC=shadowPORTC);
HAVE_PORTH(PORTH=shadowPORTH);
}
void TrackManager::setPROGCutout( bool on,bool interruptContext) {
HAVE_PORTA(shadowPORTA=PORTA);
HAVE_PORTB(shadowPORTB=PORTB);
HAVE_PORTC(shadowPORTC=PORTC);
HAVE_PORTH(shadowPORTH=PORTH);
APPLY_BY_MODE(TRACK_MODE_PROG,setBrake(on,interruptContext));
HAVE_PORTA(PORTA=shadowPORTA);
HAVE_PORTB(PORTB=shadowPORTB);
HAVE_PORTC(PORTC=shadowPORTC);
HAVE_PORTH(PORTH=shadowPORTH);
}
// true when there is any railcom capable MAIN track
bool TrackManager::isRailcomCapable() {
FOR_EACH_TRACK(t) {
if((track[t]->getMode()==TRACK_MODE_MAIN) && (track[t]->isRailcomCapable())){
return true;
}
}
return false;
}
// setPROGSignal(), called from interrupt context

4
TrackManager.h
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@ -51,9 +51,11 @@ class TrackManager {
);
static void setDCCSignal( bool on);
static void setCutout( bool on);
static void setPROGSignal( bool on);
static void setDCSignal(int16_t cab, byte speedbyte);
static void setCutout( bool on,bool interruptContext=false);
static void setPROGCutout( bool on,bool interruptContext=false);
static bool isRailcomCapable();
static MotorDriver * getProgDriver();
#ifdef ARDUINO_ARCH_ESP32
static std::vector<MotorDriver *>getMainDrivers();